def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
self.ui.plot_view.clear()
self.ui.plot_view.setBackground(QtGui.QColor('white'))
self.ui.tree_widget.clear()
self._plot_index = 0
self._plot_datas_arrays = []
self._curves = []
colors = [
QtGui.QColor('blue'),
QtGui.QColor('red'),
QtGui.QColor('lime'),
QtGui.QColor('cornflowerblue'),
QtGui.QColor('greenyellow'),
QtGui.QColor('violet'),
QtGui.QColor('orange'),
QtGui.QColor('deepskyblue'),
QtGui.QColor('firebrick'),
QtGui.QColor('aqua')
]
self.gyro_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
self.gyro_parent.setCheckState(0, 2)
self.gyro_parent.setText(0, 'Gyro')
self.gyro_parent.addChild(
self.createPlotLine(0, colors[0], 'Gyro X Axis'))
self.gyro_parent.addChild(
self.createPlotLine(1, colors[1], 'Gyro Y Axis'))
self.gyro_parent.addChild(
self.createPlotLine(2, colors[2], 'Gyro Z Axis'))
self.ui.tree_widget.expandItem(self.gyro_parent)
self.accel_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
self.accel_parent.setCheckState(0, 2)
self.accel_parent.setText(0, 'Accel')
self.accel_parent.addChild(
self.createPlotLine(3, colors[3], 'Accel X Axis'))
self.accel_parent.addChild(
self.createPlotLine(4, colors[4], 'Accel Y Axis'))
self.accel_parent.addChild(
self.createPlotLine(5, colors[5], 'Accel Z Axis'))
self.ui.tree_widget.expandItem(self.accel_parent)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(
self._gyro_raw_data_receved,
VehicleEventDispatcher.GYRO_DATA_EVENT)
vehicle_event_dispatcher.register(
self._accel_raw_data_receved,
VehicleEventDispatcher.ACCEL_DATA_EVENT)
vehicle_event_dispatcher.register(
self._mag_raw_data_receved,
VehicleEventDispatcher.MAGNETOMETER_DATA_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
self.ui.plot_view.clear()
self.ui.plot_view.setBackground(QtGui.QColor('white'))
self.ui.tree_widget.clear()
self._plot_index = 0
self._plot_datas_arrays = []
self._curves = []
self._tree_nodes = []
vehicle_event_dispatcher.register(
self._receiver_nb_channels_received,
VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(
self._receiver_roll_event,
VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_pitch_event,
VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_yaw_event,
VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_throttle_event,
VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_mode_event,
VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux1_event,
VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux2_event,
VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux3_event,
VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux4_event,
VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux5_event,
VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux6_event,
VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux7_event,
VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
self.ui.plot_view.clear()
self.ui.plot_view.setBackground(QtGui.QColor('white'))
self.ui.tree_widget.clear()
self._plot_index = 0
self._plot_datas_arrays = []
self._curves = []
self._tree_nodes = []
vehicle_event_dispatcher.register(self._receiver_nb_channels_received, VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(self._receiver_roll_event, VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_pitch_event, VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_yaw_event, VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_throttle_event, VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_mode_event, VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux1_event, VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux2_event, VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux3_event, VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux4_event, VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux5_event, VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux6_event, VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux7_event, VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
def __init__(self, vehicle_model, message_sender):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.vehicle_model = vehicle_model
self.message_sender = message_sender
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
def __init__(self, vehicle_model, protocol_handler):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self._vehicle_model = vehicle_model
self._protocol_handler = protocol_handler
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
self.ui.plot_view.clear()
self.ui.plot_view.setBackground(QtGui.QColor('white'))
self.ui.tree_widget.clear()
self._plot_index = 0
self._plot_datas_arrays = []
self._curves = []
self._colors = [
QtGui.QColor('blue'),
QtGui.QColor('red'),
QtGui.QColor('lime'),
QtGui.QColor('cornflowerblue'),
QtGui.QColor('greenyellow'),
QtGui.QColor('violet'),
QtGui.QColor('orange'),
QtGui.QColor('deepskyblue'),
QtGui.QColor('firebrick'),
QtGui.QColor('aqua')]
self.gyro_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
self.gyro_parent.setCheckState(0, 2)
self.gyro_parent.setText(0, 'Gyro')
self.gyro_parent.addChild (self.createPlotLine(0, self._colors[0], 'Gyro X Axis'))
self.gyro_parent.addChild (self.createPlotLine(1, self._colors[1], 'Gyro Y Axis'))
self.gyro_parent.addChild (self.createPlotLine(2, self._colors[2], 'Gyro Z Axis'))
self.ui.tree_widget.expandItem(self.gyro_parent)
self.accel_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
self.accel_parent.setCheckState(0, 2)
self.accel_parent.setText(0, 'Accel')
self.accel_parent.addChild (self.createPlotLine(3, self._colors[3], 'Accel X Axis'))
self.accel_parent.addChild (self.createPlotLine(4, self._colors[4], 'Accel Y Axis'))
self.accel_parent.addChild (self.createPlotLine(5, self._colors[5], 'Accel Z Axis'))
self.ui.tree_widget.expandItem(self.accel_parent)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(self._gyro_raw_data_receved, VehicleEventDispatcher.GYRO_DATA_EVENT)
vehicle_event_dispatcher.register(self._accel_raw_data_receved, VehicleEventDispatcher.ACCEL_DATA_EVENT)
vehicle_event_dispatcher.register(self._mag_raw_data_receved, VehicleEventDispatcher.MAGNETOMETER_DATA_EVENT)
vehicle_event_dispatcher.register(self._is_magnetometer_detected_event, VehicleEventDispatcher.MAGNETOMETER_DETECTED_EVENT)
class ReceiverDataPlotContoller(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
self.ui.plot_view.clear()
self.ui.plot_view.setBackground(QtGui.QColor('white'))
self.ui.tree_widget.clear()
self._plot_index = 0
self._plot_datas_arrays = []
self._curves = []
self._tree_nodes = []
vehicle_event_dispatcher.register(
self._receiver_nb_channels_received,
VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event,
UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(
self._receiver_roll_event,
VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_pitch_event,
VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_yaw_event,
VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_throttle_event,
VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_mode_event,
VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux1_event,
VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux2_event,
VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux3_event,
VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux4_event,
VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux5_event,
VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux6_event,
VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(
self._receiver_aux7_event,
VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
def _receiver_nb_channels_received(self, header, nb_channel):
channel_array_names = [
'Roll', 'Pitch', 'Yaw', 'Throttle', 'Mode', 'AUX1', 'AUX2', 'AUX3',
'AUX4', 'AUX5', 'AUX6', 'AUX7', 'AUX8'
]
colors = [
QtGui.QColor('blue'),
QtGui.QColor('red'),
QtGui.QColor('lime'),
QtGui.QColor('cornflowerblue'),
QtGui.QColor('greenyellow'),
QtGui.QColor('violet'),
QtGui.QColor('orange'),
QtGui.QColor('deepskyblue'),
QtGui.QColor('firebrick'),
QtGui.QColor('aqua')
]
for i in range(0, int(nb_channel)):
self._tree_nodes.append(QtGui.QTreeWidgetItem(self.ui.tree_widget))
self._tree_nodes[i].setCheckState(0, 2)
self._tree_nodes[i].setText(1, channel_array_names[i])
self._tree_nodes[i].setBackgroundColor(0, colors[i])
self._tree_nodes[i].setText(2, '0.000')
self._plot_datas_arrays.append([0.0] * 128)
self._curves.append(
PlotCurveItem(self._plot_datas_arrays[i],
pen={
'color': colors[i],
'width': 2
}))
self.ui.plot_view.addItem(self._curves[i])
def _protocol_handler_changed_event(self, event, protocol_handler):
self._protocol_handler = protocol_handler
def start(self):
self._protocol_handler.subscribe_receiver_data()
def stop(self):
self._protocol_handler.unsubscribe_command()
def _receiver_roll_event(self, event, roll):
self._update_panel_data(0, roll)
def _receiver_pitch_event(self, event, pitch):
self._update_panel_data(1, pitch)
def _receiver_yaw_event(self, event, yaw):
self._update_panel_data(2, yaw)
def _receiver_throttle_event(self, event, throttle):
self._update_panel_data(3, throttle)
def _receiver_mode_event(self, event, mode):
self._update_panel_data(4, mode)
def _receiver_aux1_event(self, event, aux1):
self._update_panel_data(5, aux1)
def _receiver_aux2_event(self, event, aux2):
self._update_panel_data(6, aux2)
def _receiver_aux3_event(self, event, aux3):
self._update_panel_data(7, aux3)
def _receiver_aux4_event(self, event, aux4):
self._update_panel_data(8, aux4)
def _receiver_aux5_event(self, event, aux5):
self._update_panel_data(9, aux5)
def _receiver_aux6_event(self, event, aux6):
self._update_panel_data(10, aux6)
def _receiver_aux7_event(self, event, aux7):
self._update_panel_data(11, aux7)
def _update_panel_data(self, index, value):
if self._tree_nodes[index].checkState(0) == 2:
self._plot_datas_arrays[index].insert(0, value)
self._plot_datas_arrays[index].pop()
self._tree_nodes[index].setText(2, str(value))
self._curves[index].setData(self._plot_datas_arrays[index])
if self._curves[index] not in self.ui.plot_view.items():
self.ui.plot_view.addItem(self._curves[index])
elif self._curves[index] in self.ui.plot_view.items():
self.ui.plot_view.removeItem(self._curves[index])
class SensorsDataPlotContoller(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
self.ui.plot_view.clear()
self.ui.plot_view.setBackground(QtGui.QColor('white'))
self.ui.tree_widget.clear()
self._plot_index = 0
self._plot_datas_arrays = []
self._curves = []
colors = [
QtGui.QColor('blue'),
QtGui.QColor('red'),
QtGui.QColor('lime'),
QtGui.QColor('cornflowerblue'),
QtGui.QColor('greenyellow'),
QtGui.QColor('violet'),
QtGui.QColor('orange'),
QtGui.QColor('deepskyblue'),
QtGui.QColor('firebrick'),
QtGui.QColor('aqua')]
self.gyro_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
self.gyro_parent.setCheckState(0, 2)
self.gyro_parent.setText(0, 'Gyro')
self.gyro_parent.addChild (self.createPlotLine(0, colors[0], 'Gyro X Axis'))
self.gyro_parent.addChild (self.createPlotLine(1, colors[1], 'Gyro Y Axis'))
self.gyro_parent.addChild (self.createPlotLine(2, colors[2], 'Gyro Z Axis'))
self.ui.tree_widget.expandItem(self.gyro_parent)
self.accel_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
self.accel_parent.setCheckState(0, 2)
self.accel_parent.setText(0, 'Accel')
self.accel_parent.addChild (self.createPlotLine(3, colors[3], 'Accel X Axis'))
self.accel_parent.addChild (self.createPlotLine(4, colors[4], 'Accel Y Axis'))
self.accel_parent.addChild (self.createPlotLine(5, colors[5], 'Accel Z Axis'))
self.ui.tree_widget.expandItem(self.accel_parent)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(self._gyro_raw_data_receved, VehicleEventDispatcher.GYRO_DATA_EVENT)
vehicle_event_dispatcher.register(self._accel_raw_data_receved, VehicleEventDispatcher.ACCEL_DATA_EVENT)
vehicle_event_dispatcher.register(self._mag_raw_data_receved, VehicleEventDispatcher.MAGNETOMETER_DATA_EVENT)
def createPlotLine(self, idx, color, plotName):
self._plot_datas_arrays.append([0.0] * 128)
self._curves.append(
PlotCurveItem(self._plot_datas_arrays[idx], pen={'color':color, 'width': 2})
)
self.ui.plot_view.addItem(self._curves[idx])
newLine = QtGui.QTreeWidgetItem()
newLine.setCheckState(0, 2)
newLine.setBackgroundColor(0, color)
newLine.setText(1, plotName + ' ')
newLine.setText(2, '0.000')
return newLine
def _protocol_handler_changed_event(self, event, protocol_handler):
self._protocol_handler = protocol_handler;
def start(self):
self._protocol_handler.subscribe_sensors_data();
def stop(self):
self._protocol_handler.unsubscribe_command()
def _gyro_raw_data_receved(self, event, gyro_vector):
if self.gyro_parent.checkState(0) != 2:
for i in range(0, 3):
if self._curves[i] in self.ui.plot_view.items():
self.ui.plot_view.removeItem(self._curves[i])
return
gyro_data_array = [gyro_vector.get_x(),gyro_vector.get_y(),gyro_vector.get_z()]
for i in range(0, 3):
gyro_child_node = self.gyro_parent.child(i)
if gyro_child_node.checkState(0) == 2:
self._plot_datas_arrays[i].insert(0, float(gyro_data_array[i]))
self._plot_datas_arrays[i].pop()
gyro_child_node.setText(2, gyro_data_array[i])
self._curves[i].setData(self._plot_datas_arrays[i])
if self._curves[i] not in self.ui.plot_view.items():
self.ui.plot_view.addItem(self._curves[i])
elif self._curves[i] in self.ui.plot_view.items():
self.ui.plot_view.removeItem(self._curves[i])
def _accel_raw_data_receved(self, event, accel_vector):
if self.accel_parent.checkState(0) != 2:
for i in range(0, 3):
if self._curves[i+3] in self.ui.plot_view.items():
self.ui.plot_view.removeItem(self._curves[i+3])
return
accel_data_array = [accel_vector.get_x(),accel_vector.get_y(),accel_vector.get_z()]
for i in range(0, 3):
accel_child_node = self.accel_parent.child(i)
if accel_child_node.checkState(0) == 2:
self._plot_datas_arrays[i+3].insert(0, float(accel_data_array[i]))
self._plot_datas_arrays[i+3].pop()
accel_child_node.setText(2, accel_data_array[i])
self._curves[i+3].setData(self._plot_datas_arrays[i+3])
if self._curves[i+3] not in self.ui.plot_view.items():
self.ui.plot_view.addItem(self._curves[i+3])
elif self._curves[i+3] in self.ui.plot_view.items():
self.ui.plot_view.removeItem(self._curves[i+3])
def _mag_raw_data_receved(self, event, mag_vector):
return
class SensorsDataPlotContoller(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
self.ui.plot_view.clear()
self.ui.plot_view.setBackground(QtGui.QColor('white'))
self.ui.tree_widget.clear()
self._plot_index = 0
self._plot_datas_arrays = []
self._curves = []
self._colors = [
QtGui.QColor('blue'),
QtGui.QColor('red'),
QtGui.QColor('lime'),
QtGui.QColor('cornflowerblue'),
QtGui.QColor('greenyellow'),
QtGui.QColor('violet'),
QtGui.QColor('orange'),
QtGui.QColor('deepskyblue'),
QtGui.QColor('firebrick'),
QtGui.QColor('aqua')]
self.gyro_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
self.gyro_parent.setCheckState(0, 2)
self.gyro_parent.setText(0, 'Gyro')
self.gyro_parent.addChild (self.createPlotLine(0, self._colors[0], 'Gyro X Axis'))
self.gyro_parent.addChild (self.createPlotLine(1, self._colors[1], 'Gyro Y Axis'))
self.gyro_parent.addChild (self.createPlotLine(2, self._colors[2], 'Gyro Z Axis'))
self.ui.tree_widget.expandItem(self.gyro_parent)
self.accel_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
self.accel_parent.setCheckState(0, 2)
self.accel_parent.setText(0, 'Accel')
self.accel_parent.addChild (self.createPlotLine(3, self._colors[3], 'Accel X Axis'))
self.accel_parent.addChild (self.createPlotLine(4, self._colors[4], 'Accel Y Axis'))
self.accel_parent.addChild (self.createPlotLine(5, self._colors[5], 'Accel Z Axis'))
self.ui.tree_widget.expandItem(self.accel_parent)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(self._gyro_raw_data_receved, VehicleEventDispatcher.GYRO_DATA_EVENT)
vehicle_event_dispatcher.register(self._accel_raw_data_receved, VehicleEventDispatcher.ACCEL_DATA_EVENT)
vehicle_event_dispatcher.register(self._mag_raw_data_receved, VehicleEventDispatcher.MAGNETOMETER_DATA_EVENT)
vehicle_event_dispatcher.register(self._is_magnetometer_detected_event, VehicleEventDispatcher.MAGNETOMETER_DETECTED_EVENT)
def createPlotLine(self, idx, color, plotName):
self._plot_datas_arrays.append([0.0] * 128)
self._curves.append(
PlotCurveItem(self._plot_datas_arrays[idx], pen={'color':color, 'width': 2})
)
self.ui.plot_view.addItem(self._curves[idx])
newLine = QtGui.QTreeWidgetItem()
newLine.setCheckState(0, 2)
newLine.setBackgroundColor(0, color)
newLine.setText(1, plotName + ' ')
newLine.setText(2, '0.000')
return newLine
def _protocol_handler_changed_event(self, event, protocol_handler):
self._protocol_handler = protocol_handler;
def _is_magnetometer_detected_event(self, header, is_detected):
if is_detected == 'Detected':
self.mag_parent = QtGui.QTreeWidgetItem(self.ui.tree_widget)
self.mag_parent.setCheckState(0, 2)
self.mag_parent.setText(0, 'Magnetometer')
self.mag_parent.addChild (self.createPlotLine(6, self._colors[6], 'Mag X Axis'))
self.mag_parent.addChild (self.createPlotLine(7, self._colors[7], 'Mag Y Axis'))
self.mag_parent.addChild (self.createPlotLine(8, self._colors[8], 'Mag Z Axis'))
self.ui.tree_widget.expandItem(self.mag_parent)
def start(self):
self._protocol_handler.subscribe_sensors_data();
def stop(self):
self._protocol_handler.unsubscribe_command();
def _gyro_raw_data_receved(self, event, gyro_vector):
if self.gyro_parent.checkState(0) != 2:
for i in range(0, 3):
if self._curves[i] in self.ui.plot_view.items():
self.ui.plot_view.removeItem(self._curves[i])
return
gyro_data_array = [gyro_vector.get_x(),gyro_vector.get_y(),gyro_vector.get_z()]
for i in range(0, 3):
gyro_child_node = self.gyro_parent.child(i)
if gyro_child_node.checkState(0) == 2:
self._plot_datas_arrays[i].insert(0, float(gyro_data_array[i]))
self._plot_datas_arrays[i].pop()
gyro_child_node.setText(2, gyro_data_array[i])
self._curves[i].setData(self._plot_datas_arrays[i])
if self._curves[i] not in self.ui.plot_view.items():
self.ui.plot_view.addItem(self._curves[i])
elif self._curves[i] in self.ui.plot_view.items():
self.ui.plot_view.removeItem(self._curves[i])
def _accel_raw_data_receved(self, event, accel_vector):
if self.accel_parent.checkState(0) != 2:
for i in range(0, 3):
if self._curves[i+3] in self.ui.plot_view.items():
self.ui.plot_view.removeItem(self._curves[i+3])
return
accel_data_array = [accel_vector.get_x(),accel_vector.get_y(),accel_vector.get_z()]
for i in range(0, 3):
accel_child_node = self.accel_parent.child(i)
if accel_child_node.checkState(0) == 2:
self._plot_datas_arrays[i+3].insert(0, float(accel_data_array[i]))
self._plot_datas_arrays[i+3].pop()
accel_child_node.setText(2, accel_data_array[i])
self._curves[i+3].setData(self._plot_datas_arrays[i+3])
if self._curves[i+3] not in self.ui.plot_view.items():
self.ui.plot_view.addItem(self._curves[i+3])
elif self._curves[i+3] in self.ui.plot_view.items():
self.ui.plot_view.removeItem(self._curves[i+3])
def _mag_raw_data_receved(self, event, mag_vector):
if self.mag_parent.checkState(0) != 2:
for i in range(0, 3):
if self._curves[i+6] in self.ui.plot_view.items():
self.ui.plot_view.removeItem(self._curves[i+6])
return
mag_data_array = [mag_vector.get_x(),mag_vector.get_y(),mag_vector.get_z()]
for i in range(0, 3):
mag_child_node = self.mag_parent.child(i)
if mag_child_node.checkState(0) == 2:
self._plot_datas_arrays[i+6].insert(0, float(mag_data_array[i]))
self._plot_datas_arrays[i+6].pop()
mag_child_node.setText(2, mag_data_array[i])
self._curves[i+6].setData(self._plot_datas_arrays[i+6])
if self._curves[i+6] not in self.ui.plot_view.items():
self.ui.plot_view.addItem(self._curves[i+6])
elif self._curves[i+6] in self.ui.plot_view.items():
self.ui.plot_view.removeItem(self._curves[i+6])
class ReceiverDataPlotContoller(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_event_dispatcher, ui_event_dispatcher):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
self.ui.plot_view.setRange(xRange=(0, 128), padding=0.0)
self.ui.plot_view.clear()
self.ui.plot_view.setBackground(QtGui.QColor('white'))
self.ui.tree_widget.clear()
self._plot_index = 0
self._plot_datas_arrays = []
self._curves = []
self._tree_nodes = []
vehicle_event_dispatcher.register(self._receiver_nb_channels_received, VehicleEventDispatcher.RECEIVER_NB_CHANNEL_EVENT)
ui_event_dispatcher.register(self._protocol_handler_changed_event, UIEventDispatcher.PROTOCOL_HANDLER_EVENT)
vehicle_event_dispatcher.register(self._receiver_roll_event, VehicleEventDispatcher.RECEIVER_ROLL_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_pitch_event, VehicleEventDispatcher.RECEIVER_PITCH_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_yaw_event, VehicleEventDispatcher.RECEIVER_YAW_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_throttle_event, VehicleEventDispatcher.RECEIVER_THROTTLE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_mode_event, VehicleEventDispatcher.RECEIVER_MODE_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux1_event, VehicleEventDispatcher.RECEIVER_AUX1_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux2_event, VehicleEventDispatcher.RECEIVER_AUX2_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux3_event, VehicleEventDispatcher.RECEIVER_AUX3_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux4_event, VehicleEventDispatcher.RECEIVER_AUX4_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux5_event, VehicleEventDispatcher.RECEIVER_AUX5_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux6_event, VehicleEventDispatcher.RECEIVER_AUX6_PROPERTY_EVENT)
vehicle_event_dispatcher.register(self._receiver_aux7_event, VehicleEventDispatcher.RECEIVER_AUX7_PROPERTY_EVENT)
def _receiver_nb_channels_received(self, header, nb_channel):
channel_array_names = ['Roll','Pitch','Yaw','Throttle','Mode','AUX1','AUX2','AUX3','AUX4','AUX5','AUX6','AUX7','AUX8']
colors = [QtGui.QColor('blue'),
QtGui.QColor('red'),
QtGui.QColor('lime'),
QtGui.QColor('cornflowerblue'),
QtGui.QColor('greenyellow'),
QtGui.QColor('violet'),
QtGui.QColor('orange'),
QtGui.QColor('deepskyblue'),
QtGui.QColor('firebrick'),
QtGui.QColor('aqua')]
for i in range(0, int(nb_channel)) :
self._tree_nodes.append(QtGui.QTreeWidgetItem(self.ui.tree_widget))
self._tree_nodes[i].setCheckState(0, 2)
self._tree_nodes[i].setText(1, channel_array_names[i])
self._tree_nodes[i].setBackgroundColor(0, colors[i])
self._tree_nodes[i].setText(2, '0.000')
self._plot_datas_arrays.append([0.0] * 128)
self._curves.append(
PlotCurveItem(self._plot_datas_arrays[i], pen={'color':colors[i], 'width': 2})
)
self.ui.plot_view.addItem(self._curves[i])
def _protocol_handler_changed_event(self, event, protocol_handler):
self._protocol_handler = protocol_handler;
def start(self):
self._protocol_handler.subscribe_receiver_data();
def stop(self):
self._protocol_handler.unsubscribe_command()
def _receiver_roll_event(self, event, roll):
self._update_panel_data(0, roll)
def _receiver_pitch_event(self, event, pitch):
self._update_panel_data(1, pitch)
def _receiver_yaw_event(self, event, yaw):
self._update_panel_data(2, yaw)
def _receiver_throttle_event(self, event, throttle):
self._update_panel_data(3, throttle)
def _receiver_mode_event(self, event, mode):
self._update_panel_data(4, mode)
def _receiver_aux1_event(self, event, aux1):
self._update_panel_data(5, aux1)
def _receiver_aux2_event(self, event, aux2):
self._update_panel_data(6, aux2)
def _receiver_aux3_event(self, event, aux3):
self._update_panel_data(7, aux3)
def _receiver_aux4_event(self, event, aux4):
self._update_panel_data(8, aux4)
def _receiver_aux5_event(self, event, aux5):
self._update_panel_data(9, aux5)
def _receiver_aux6_event(self, event, aux6):
self._update_panel_data(10, aux6)
def _receiver_aux7_event(self, event, aux7):
self._update_panel_data(11, aux7)
def _update_panel_data(self, index, value):
if self._tree_nodes[index].checkState(0) == 2:
self._plot_datas_arrays[index].insert(0, value)
self._plot_datas_arrays[index].pop()
self._tree_nodes[index].setText(2, str(value))
self._curves[index].setData(self._plot_datas_arrays[index])
if self._curves[index] not in self.ui.plot_view.items():
self.ui.plot_view.addItem(self._curves[index])
elif self._curves[index] in self.ui.plot_view.items():
self.ui.plot_view.removeItem(self._curves[index])
class DataPlotController(QtGui.QWidget, BasePanelController):
def __init__(self, vehicle_model, message_sender):
QtGui.QWidget.__init__(self)
BasePanelController.__init__(self)
self.vehicle_model = vehicle_model
self.message_sender = message_sender
self.ui = Ui_DataPlotPanel()
self.ui.setupUi(self)
def start(self, xmlSubPanel, boardConfiguration):
'''This method starts a timer used for any long running loops in a subpanel'''
self.xmlSubPanel = xmlSubPanel
self.boardConfiguration = boardConfiguration
self.plotIndex = int(self.xml.find(self.xmlSubPanel + '/Index').text)
plotSize = int(self.xml.find(self.xmlSubPanel + '/PlotSize').text)
plotNames = self.xml.findall(self.xmlSubPanel + '/PlotName')
self.plotCount = len(plotNames)
self.ui.graphicsView.setRange(xRange=(0, plotSize), padding=0.0)
self.ui.graphicsView.clear()
self.ui.treeWidget.clear()
self.data, self.curves, colors = [], [], [
QtGui.QColor('blue'),
QtGui.QColor('red'),
QtGui.QColor('lime'),
QtGui.QColor('cornflowerblue'),
QtGui.QColor('greenyellow'),
QtGui.QColor('violet'),
QtGui.QColor('orange'),
QtGui.QColor('deepskyblue'),
QtGui.QColor('firebrick'),
QtGui.QColor('aqua')
]
for i in xrange(self.plotCount):
self.data.append([0.0] * plotSize)
self.curves.append(
PlotCurveItem(self.data[i], pen={'color':colors[i], 'width': 2})
)
self.ui.graphicsView.addItem(self.curves[i])
plotName = plotNames[i].text
newLine = QtGui.QTreeWidgetItem(self.ui.treeWidget)
newLine.setCheckState(0, 2)
newLine.setBackgroundColor(0, colors[i])
newLine.setText(1, plotName + ' ')
newLine.setText(2, '0.000')
self.ui.treeWidget.resizeColumnToContents(0)
self.ui.treeWidget.resizeColumnToContents(1)
self.legend = self.ui.treeWidget.invisibleRootItem()
if self.comm.isConnected() == True:
telemetry = self.xml.find(self.xmlSubPanel + '/Telemetry').text
if telemetry != '':
self.comm.write(telemetry)
self.timer = QtCore.QTimer()
self.timer.timeout.connect(self.readContinuousData)
self.timer.start(50)
self.startCommThread()
self.plot_timer = QtCore.QTimer()
self.plot_timer.timeout.connect(self.update_plot)
self.plot_timer.start(100)
def readContinuousData(self):
'''This method continually reads telemetry from the AeroQuad'''
if self.comm.isConnected() and not self.commData.empty():
rawData = self.commData.get()
data = rawData.split(',')
for i in xrange(self.plotCount):
legendRow = self.legend.child(i)
if legendRow.checkState(0) == 2:
try:
dataValue = data[i + self.plotIndex]
self.data[i].insert(0, float(dataValue))
self.data[i].pop()
legendRow.setText(2, dataValue)
except:
pass # Do not update output data if invalid number detected from comm read
def update_plot(self):
for i in xrange(self.plotCount):
legendRow = self.legend.child(i)
if legendRow.checkState(0) == 2:
self.curves[i].setData(self.data[i])
if self.curves[i] not in self.ui.graphicsView.items():
self.ui.graphicsView.addItem(self.curves[i])
else:
if self.curves[i] in self.ui.graphicsView.items():
self.ui.graphicsView.removeItem(self.curves[i])
self.ui.graphicsView.autoRange()
